Control device for mobile object, control method for mobile object, and storage medium
AssigneeHonda Motor Co., Ltd.
InventorsHideki Matsunaga, Takashi Matsumoto, Ryoji Wakayama, Koki Aizawa, Kento Shirakata, Yunosuke Kuramitsu
Life of this patent
Estimating the term…
Abstract
A control device for a mobile object includes: a road type recognition unit configured to recognize whether a region of interest is a roadway or a sidewalk based on a bicycle mark used for guiding a passage of a bicycle and detected by a detection device that detects an external situation of a mobile object that is able to move in both the roadway and the sidewalk; and a control unit configured to control the mobile object based on a result of the recognition of the road type recognition unit.
Claims16
A control device for a mobile object that is able to move in both a roadway and a sidewalk, the control device comprising:
- a hardware processor configured to recognize whether a region of interest is a roadway or a sidewalk based on a bicycle mark used for guiding a passage of a bicycle and detected by a detection device that detects an external situation of the mobile object;
- and
- a control unit configured to control the mobile object based on a result of the recognition of the hardware processor,
- wherein the hardware processor is configured to:
- when the direction of the bicycle mark is recognizable, recognize a road on one side in a left-right direction relative to a traveling direction guided by the bicycle mark as the roadway and a road on another side as the sidewalk, based on the bicycle mark and a direction of the bicycle mark;
- and
- when the direction of the bicycle mark is not recognizable, recognize whether the region of the interest is a roadway or a sidewalk based on one or both of the bicycle mark and widths of right and left roads of the bicycle marks and a sign provided in vicinity of the bicycle mark.
A control method for a mobile object in a control device for a mobile object that is able to move in both a roadway and a sidewalk, the method comprising:
- recognizing whether a region of interest is a roadway or a sidewalk based on a bicycle mark used for guiding a passage of a bicycle and detected by a detection device that detects an external situation of the mobile object;
- controlling the mobile object based on a result of the recognition;
- when the direction of the bicycle mark is recognizable, recognizing a road on one side in a left-right direction relative to a traveling direction guided by the bicycle mark as the roadway and a road on another side as the sidewalk, based on the bicycle mark and a direction of the bicycle mark;
- and
- when the direction of the bicycle mark is not recognizable, recognizing whether the region of the interest is a roadway or a sidewalk based on one or both of the bicycle mark and widths of right and left roads of the bicycle marks and a sign provided in vicinity of the bicycle mark.
A non-transitory storage medium storing a program causing a control device for a mobile object that is able to move in both a roadway and a sidewalk to perform:
- recognizing whether a region of interest is a roadway or a sidewalk based on a bicycle mark used for guiding a passage of a bicycle and detected by a detection device that detects an external situation of the mobile object;
- and
- controlling the mobile object based on a result of the recognition;
- when the direction of the bicycle mark is recognizable, recognizing a road on one side in a left-right direction relative to a traveling direction guided by the bicycle mark as the roadway and a road on another side as the sidewalk, based on the bicycle mark and a direction of the bicycle mark;
- and
- when the direction of the bicycle mark is not recognizable, recognizing whether the region of the interest is a roadway or a sidewalk based on one or both of the bicycle mark and widths of right and left roads of the bicycle marks and a sign provided in vicinity of the bicycle mark.
Dependencies are inferred from the claim text.